A Novel Probabilistic Approach for Vehicle Position Prediction in Free, Partial, and Full GPS Outages

Figure 4

Vehicle position prediction in terms of longitude and latitude errors using the adopted methods KF, MARS, B-SRGP (non-gn), and B-SRGP (gn) in free, partial, and full outages. The black circle symbols show the detected partial outages on the latitude and longitude, respectively.